Consensus Problem for Multi-agent System and Its Applicatation to Formation Control
Chika Yoshioka, Toru Namerikawa · Transactions of the Society of Instrument and Control Engineers · 2008
This paper deals with consensus problem for multi-agent systems and its application to vehicle formation control. Consensus means to reach an agreement regarding a certain quantity of interest that depends on the states of all agents, We consider that stability condition of consensus for MIMO linear systems. The stability condition is derived via Lyapunov stability theorem. Then, an observer-based output consensus strategy is proposed to reduce communication exchange and an output consensus strategy with an integrator is also derived. Finally, one of these consensus strategies is applied to vehicle formation problem. Experimental results of vehicle formation are shown and the effectiveness of the proposed approaches is evaluated.